MAVIS: A Robust Real-Time SFM for SMAV

Award Information
Agency:
Department of Defense
Branch
Defense Advanced Research Projects Agency
Amount:
$749,984.00
Award Year:
2006
Program:
STTR
Phase:
Phase II
Contract:
W31P4Q-06-C-0488
Award Id:
74353
Agency Tracking Number:
05ST1-0039
Solicitation Year:
n/a
Solicitation Topic Code:
n/a
Solicitation Number:
n/a
Small Business Information
8001 Lingay Drive, Allison Park, PA, 15101
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
077753114
Principal Investigator:
Takeo Kanade
University Professor of C
(412) 268-3016
Takeo.Kanade@cs.cmu.edu
Business Contact:
P. Balakumar
CEO
(412) 606-2252
bala@etovia.com
Research Institution:
CARNEGIE MELLON UNIV.
Deborah Harvard
Robotics Institute - NSH 3103 5000 Forbes Avenue
Pittsburgh, PA, 15213
(412) 268-2996
Nonprofit college or university
Abstract
We shall investigate, implement and demonstrate MAVIS, a 3D vision system incorporating robust Real-Time SFM for SMAV application scenarios. Automatic pose determination and extraction of 3D structure of the environment are critical to autonomous navigation and obstacle avoidance of SMAVs in constrained and crowded environments. Extracting such state information under various constraints (low quality video because of sensor payload limitations, minimal onboard processing capabilities, sudden and abrupt motions changes etc.) poses a significant challenge and requires development of innovative and robust algorithms. During Phase II we shall a) Investigate ways to increase the reliability and robustness of SFM algorithms using commodity, COTS based motion sensors; b) Exploit scene regularity by using layered approach, thus increasing the robustness of feature tracking; c) Integrate, test and demonstrate core components of the 3D Vision system, consisting of various SFM modules with robustness at each processing stage to ensure reliable performance; and d) Pursue commercialization of the MAVIS system.

* information listed above is at the time of submission.

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